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I'll provide some detail from my last comment

With regards the ESP (EFI system partition) flag not being set, I'll provide a link to an answer which shows what I do -...

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There is a 'drop down' menu which selects the Mount Point.

You need to select the "/" there :)

(and/or for your other partition selecting /boot/efi/)

The "Keep" option = no format and is...

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Sorry I didn't see or missed the "Do I have to remove 19.04 first?" bit.

If you used & liked your old 19.04 system, and had added packages, made changes that you liked, I'd for sure use manual...

If you don't have the Erase Disk option, it's because of a reason, such as mounted partition (ie. part of the disk is being used).

I'd check for a in-use swap partition for example, which is...

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